IOU计算

定义与应用

• IoU（Intersection over Union）：gt bbox、pred bbox 交集的面积 / 二者并集的面积

• NMS：当在图像中预测多个proposals、pred bboxes时，由于预测的结果间可能存在高冗余（即同一个目标可能被预测多个矩形框），因此可以过滤掉一些彼此间高重合度的结果；具体操作就是根据各个bbox的score降序排序，剔除与高score bbox有较高重合度的低score bbox，那么重合度的度量指标就是IoU；

• mAP：得到检测算法的预测结果后，需要对pred bbox与gt bbox一起评估检测算法的性能，涉及到的评估指标为mAP，那么当一个pred bbox与gt bbox的重合度较高（如IoU score > 0.5），且分类结果也正确时，就可以认为是该pred bbox预测正确，这里也同样涉及到IoU的概念；

实现

• 计算 bbox 间 IoU 唯一的难点就在计算intersection，直接计算两个 bbox 的相交边框坐标即可，若不相交得到的结果中，必有 ixmax < ixmin 或者 iymax < iymin 其一成立，此时 iw、ih 就为 0 了
• 计算union，union = s1 + s2 - intersection
• 源码

# -*- coding: utf-8 -*-

# Author: zcj 2021.9.6

import numpy as np

def get_IoU(pred_bbox, gt_bbox):
    """
    return iou score between pred / gt bboxes
    :param pred_bbox: predict bbox coordinate
    :param gt_bbox: ground truth bbox coordinate
    :return iou score
    """
    
    assert ((pred_bbox[2] - pred_bbox[0]) > 0 and
             (pred_bbox[3] - pred_bbox[1]) > 0)
    assert ((gt_bbox[2] - gt_bbox[0]) > 0 and
            (gt_bbox[3] - gt_bbox[1]) > 0)


    # -----0----- get coordinates of inters
    ixmin = max(pred_bbox[0], gt_bbox[0])
    iymin = max(pred_bbox[1], gt_bbox[1])
    ixmax = min(pred_bbox[2], gt_bbox[2])
    iymax = min(pred_bbox[3], gt_bbox[3])
    iw = np.maximum(ixmax - ixmin + 1., 0.)
    ih = np.maximum(iymax - iymin + 1., 0.)

    # -----1----- intersection
    inters = iw * ih

    # -----2----- union, uni = s1 + s2 - inters
    uni = ((pred_bbox[2] - pred_bbox[0] + 1.) * (pred_bbox[3] - pred_bbox[1] + 1.) +
           (gt_bbox[2] - gt_bbox[0] + 1.) * (gt_bbox[3] - gt_bbox[1] + 1.) - inters)

    # -----3----- iou
    overlaps = inters / uni

    return overlaps


def get_max_IoU(pred_bboxes, gt_bbox):
    """
    given 1 gt bbox, >1 pred bboxes, return max iou score for the given gt bbox and pred_bboxes
    :param pred_bbox: predict bboxes coordinates, we need to find the max iou score with gt bbox for these pred bboxes
    :param gt_bbox: ground truth bbox coordinate
    :return: max iou score
    """

    if pred_bboxes.shape[0] > 0:
        # -----0----- get coordinates of inters, but with multiple predict bboxes
        ixmin = np.maximum(pred_bboxes[:, 0], gt_bbox[0])
        iymin = np.maximum(pred_bboxes[:, 1], gt_bbox[1])
        ixmax = np.minimum(pred_bboxes[:, 2], gt_bbox[2])
        iymax = np.minimum(pred_bboxes[:, 3], gt_bbox[3])
        iw = np.maximum(ixmax - ixmin + 1., 0.)
        ih = np.maximum(iymax - iymin + 1., 0.)

        # -----1----- intersection
        inters = iw * ih

        # -----2----- union, uni = s1 + s2 - inters
        uni = ((pred_bboxes[:, 2] - pred_bboxes[:, 0] + 1.) * (pred_bboxes[:, 3] - pred_bboxes[:, 1] + 1.) +
               (gt_bbox[2] - gt_bbox[0] + 1.) * (gt_bbox[3] - gt_bbox[1] + 1.) - inters)

        # -----3-----iou, get max score and max iou index
        overlaps = inters / uni
        ovmax = np.max(overlaps)
        jmax = np.argmax(overlaps)

    return overlaps, ovmax, jmax


if __name__ == "__main__":
    pass

    # test1
    pred_bbox = np.array([50, 50, 90, 100])
    gt_bbox = np.array([70, 80, 120, 150])
    print(get_IoU(pred_bbox, gt_bbox))

    # test2
    pred_bboxes = np.array([[15, 18, 47, 60],
                            [50, 50, 90, 100],
                            [70, 80, 120, 145],
                            [130, 160, 250, 280],
                            [25.6, 66.1, 113.3, 147.8]])
    gt_bbox = np.array([70, 80, 120, 150])
    print(get_max_IoU(pred_bboxes, gt_bbox))